Table 2.

Comparison of assistance levels for voluntary movement training at each mode in the two groups

	High robotic assistance group	Low robotic assistance group
Guided mode	68% of the entire intervention time	41% of the entire intervention time
Initiated mode	31% of the entire intervention time	37% of the entire intervention time
Step-Initiated mode	1% of the entire intervention time	18% of the entire intervention time
Follow-assist mode	0%	3% of the entire intervention time
Free mode	0%	1% of the entire intervention time

See Fig. 2 for an interpretation of the levels of assistance for each mode of the robotic system